enum mrpt::bayes::TKFMethod

Overview

The Kalman Filter algorithm to employ in bayes::CKalmanFilterCapable. More…

#include <CKalmanFilterCapable.h>

enum TKFMethod
{
    kfEKFNaive      = 0,
    kfEKFAlaDavison,
    kfIKFFull,
};

The Kalman Filter algorithm to employ in bayes::CKalmanFilterCapable.

kfEKFNaive: Standard EKF (batch observation update).
kfEKFAlaDavison: EKF processing one observation scalar at a time (SLAM). Requires a diagonal observation noise matrix R.
kfIKFFull: Iterated EKF (Gauss-Newton): the observation model, its Jacobians and the Kalman gain are re-evaluated at each of the TKF_options::IKF_iterations iterates.